CN109204454A - Two-wheeled omnibearing ambulation system - Google Patents
Two-wheeled omnibearing ambulation system Download PDFInfo
- Publication number
- CN109204454A CN109204454A CN201811335548.6A CN201811335548A CN109204454A CN 109204454 A CN109204454 A CN 109204454A CN 201811335548 A CN201811335548 A CN 201811335548A CN 109204454 A CN109204454 A CN 109204454A
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- China
- Prior art keywords
- speed reducer
- driving wheel
- wheeled
- wheel
- annular groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 33
- 239000007853 buffer solution Substances 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 abstract description 7
- 230000001070 adhesive effect Effects 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 3
- 239000000243 solution Substances 0.000 description 12
- 238000005096 rolling process Methods 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of Two-wheeled omnibearing ambulation systems comprising wheel carrier, the first driving motor, the first speed reducer, the first driving wheel, the second driving motor, the second speed reducer, the second driving wheel；First speed reducer and the second speed reducer are fixed by bolts on wheel carrier；The input shaft and output shaft of first speed reducer are separately connected the first driving motor and the first driving wheel；The input shaft and output shaft of second speed reducer are separately connected the second driving motor and the second driving wheel；And first driving wheel and the second driving wheel be distributed in the two sides of wheel carrier.The present invention can be realized car body 360 ° freely turn to and provide enough adhesive force to driving wheel in the case where AGV vehicle is by the different operating conditions such as roughness pavement and heavy duty/underloading, prevent the multiple functions such as coiling, measurement wheel group angle.
Description
Technical field
The invention belongs to automated guided vehicle field technical fields, relate in particular to a kind of comprehensive row of Two-wheeled
Walking system.
Background technique
With advances in technology, AGV (Automated Guilded Vehicle) vehicle as it is a kind of have safeguard protection and
The carrier for transplanting function, because its supermatic characteristic, is widely used in mechanical stereo parking garage field.?
AGV vehicle technical field, AGV driving wheel to the adhesion property on ground directly determine AGV Chinese herbaceous peony into power it is whether sufficient, simultaneously
Also its motion profile control performance is affected.When ground environment is good, it is only necessary to which face has stabilization to the driving wheel of AGV vehicle over the ground
Pressing force.But ground not usually, need the driving wheel of AGV that there is enough adhesive force to guarantee to load the flat of weight
Steady transport.On the one hand existing AGV bassinet structure cannot complete the tune of steering angle well when turn to or angle controls
It is whole.In addition, on ground enough attachments can not be provided to driving wheel there are when the complicated grounds environment such as raised or sunken obstacle
Power.It, can not be in the different operating conditions such as heavy duty and underloading pair in addition, existing AGV bassinet structure is there is also being unable to measure wheel group angle
Driving wheel provides enough adhesive force, driving mechanism on the rotating platform when be easy to produce coiling phenomenon, etc. problems.Therefore,
A kind of novel Two-wheeled omnibearing ambulation system how is developed, can overcome the problems, such as above-mentioned each, is art technology
Personnel need the direction studied.
Summary of the invention
The object of the present invention is to provide a kind of Two-wheeled omnibearing ambulation system, 360 ° for can be realized car body freely turn
To, and have under by the different operating condition such as roughness pavement or heavy duty/underloading to driving wheel provide enough adhesive force, prevent around
The multiple functions such as line, measurement wheel group angle.
The technical scheme adopted is as follows:
A kind of Two-wheeled omnibearing ambulation system comprising wheel carrier, the first driving motor, the first speed reducer, first drives
Driving wheel, the second driving motor, the second speed reducer, the second driving wheel；First speed reducer and the second speed reducer are solid by bolt
Due on wheel carrier；The input shaft and output shaft of first speed reducer are separately connected the first driving motor and the first driving wheel；Institute
The input shaft and output shaft for stating the second speed reducer are separately connected the second driving motor and the second driving wheel；And first driving wheel
The two sides of wheel carrier are distributed in the second driving wheel.
By using this technical solution: being adjusted separately by the driving mechanism of two groups of driving motors and speed reducer and be located at wheel
The velocity of rotation of the driving wheel of frame two sides and direction.By the output revolving speed of control driving motor, driving wheel is made to obtain rotational speed difference,
Accurately regulate and control the steering angle of AGV vehicle.Wherein, select driving motor as driving executing agency, to improve double drive complete
The precision of orientation running gear, and driving motor has the characteristics that output torque is big, the operation is stable.
Preferably, in above-mentioned Two-wheeled omnibearing ambulation system: it further include suspension buffer system, the suspension buffering
System is fixed on wheel carrier comprising lower cylinder, upper cylinder, spring, disc spring and thrust bearing；The lower cylinder is equipped with annular groove；Institute
It states spring, disc spring and thrust bearing to be located in annular groove, and the thrust bearing is located at annular groove bottom；The disc spring connects
It connects on the upside of thrust bearing, on the upside of the spring connection disc spring；The upper cylinder includes top surface and side tube-wall；The side tube-wall protrudes into ring
In shape slot and it is located on the upside of disc spring；Annular convex edge is equipped on the outside of the top surface edge, the annular convex edge radius is greater than annular groove
Radius, for limiting downward movement of the upper cylinder to lower cylinder；The side tube-wall inner wall is equipped with annular rib, the annular rib position
On the upside of spring.
By using this technical solution: upper cylinder is for being fixed on weight bearing bracket, and lower cylinder is for being fixed on rotating platform
On.When unsupported weight on the bracket that bears a heavy burden, side tube-wall protrudes into that annular groove portion is not in contact with disc spring and annular rib is pressed on
On spring, spring is in bending compressive state at this time, by the weight of spring supporting weight bearing bracket.And it is placed with when on weight bearing bracket
When weight, spring is in limited compression state.Side tube-wall is under pressure towards annular groove bottom movement, its bottom edge and dish at this time
Spring contact, mainly bears increased weight by disc spring.It is met under the different operating conditions of heavy duty and underloading as a result, as driving
Wheel provides the effect of enough adhesive force.In addition, make AGV vehicle in running on rough terrain using this mechanism, upper cylinder and lower cylinder
Spacing is generated when jolting, the power of disc spring compression at this time discharges first, then the power release of spring.Pass through disc spring and two layers of spring
Buffering avoids ground from jolting being transferred to weight bearing bracket, ensure that AGV vehicle is jolting road conditions when driving, the stability of weight bearing.
Preferably, in above-mentioned Two-wheeled omnibearing ambulation system: the comprehensive row of Two-wheeled as claimed in claim
Walking system, it is characterised in that: further include encoder system, the encoder system includes encoder stator and encoder magnet steel；
The encoder stator is mutually fixed with upper cylinder；The encoder magnet steel is mutually fixed with lower cylinder.
By using this technical solution: during AGV vehicle does steering movement, lower cylinder is rotated together with wheel carrier, phase
Divertical motion is generated for upper cylinder.Relative encoder's stator rotates encoder magnet steel therewith, is achieved in driving wheel around suspension
The measurement of buffer system rotational angle.In practice, the length of encoder magnet steel is total to by the distance that detection length and upper and lower cylinder separate
With decision.
It is further preferred that in above-mentioned Two-wheeled omnibearing ambulation system: the lower cylinder is equipped with the first via hole；It is described
First via hole and annular groove are concentric structure, its aperture less than annular groove radius；The top surface is equipped with the second via hole.
By using this technical solution: the cable being powered for the driving mechanism on rotating platform sequentially passes through first
Thus via hole and the second via hole overcome the problem of electric wire is easy to produce coiling phenomenon when AGV vehicle turns to.
It is further preferred that in above-mentioned Two-wheeled omnibearing ambulation system: further including axle sleeve, the axle sleeve is fixed on annular
It is separated in slot, by upper cylinder and lower cylinder.
By using this technical solution: setting axle sleeve separates upper cylinder and lower cylinder, for reducing between upper cylinder and lower cylinder
Abrasion, play lubricating action.
It may further be preferable that in above-mentioned Two-wheeled omnibearing ambulation system: it further include upper disc spring pad, the upper disc spring
Pad is set on the upside of disc spring, separates spring and disc spring and side tube-wall and disc spring.
By using this technical solution: the above disc spring pad is realized disc spring and is protected, and disc spring quilt in loading process is prevented
Spring causes to scratch, while the pressure for making cylinder be transferred to disc spring becomes uniform.
It is even furthermore preferable that in above-mentioned Two-wheeled omnibearing ambulation system: it further include lower disc spring pad, the lower dish
Spring pad is set on the downside of disc spring, separates disc spring and thrust bearing.
By using this technical solution: following disc spring pad is realized thrust bearing and is protected, and prevents disc spring in stress to releasing
Thrust bearing is caused to scratch during putting.
It is even furthermore preferable that in above-mentioned Two-wheeled omnibearing ambulation system: first speed reducer and second subtracts
Fast machine uses parallel axle speed reducing machine.
By using this technical solution: parallel axle speed reducing machine has high-efficient, noise compared with other similar products
Small, maintenance cost is low, and installation is simple, and installation and debugging are simple.
It is even furthermore preferable that in above-mentioned Two-wheeled omnibearing ambulation system: first driving wheel and second drives
Driving wheel is made of polyurethane and aluminium alloy.
By using this technical solution: it is small with noise, and large carrying capacity is light-weight, and wearability is good, ground friction
The small advantage of coefficient.
It is even furthermore preferable that in above-mentioned Two-wheeled omnibearing ambulation system: it further include rolling ball bearing, the rolling
Dynamic ball bearing is fixed on the axis of lower cylinder, is installed in wheel carrier.
By using this technical solution: when the first driving wheel and the second driving wheel be not in a horizontal plane, wheel carrier with
Centered on the axis of rolling ball bearing, adjust the angle of wheel carrier, thus guarantee driving wheel always with ground face contact.
It is even furthermore preferable that in above-mentioned Two-wheeled omnibearing ambulation system: it further include bearing (ball) cover, the axis
Socket end lid connects rolling ball bearing.
By using this technical solution: the axial movement of suspension buffer system is limited with bearing (ball) cover, when AGV vehicle needs
When bringing to a halt, the inertia force of suspension buffer system is passed to wheel carrier by bearing (ball) cover.
Compared with prior art, the configuration of the present invention is simple, it is easily prepared.360 ° for can be realized car body freely turn to, and
With under by the different operating condition such as roughness pavement and heavy duty/underloading to driving wheel provide enough adhesive force, prevent coiling,
Measure the multiple functions such as wheel group angle.
Detailed description of the invention
Present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the schematic top plan view of Fig. 1；
Fig. 3 is the structural schematic diagram that buffer system and bearing, bearing (ball) cover are hung in Fig. 1；
Fig. 4 is the first working state schematic representation that buffer system is hung in Fig. 3；
Fig. 5 is the second working state schematic representation that buffer system is hung in Fig. 3；
Fig. 6 is the structural schematic diagram of lower cylinder in Fig. 4 and Fig. 5；
Fig. 7 is the structural schematic diagram of upper cylinder in Fig. 4 and Fig. 5；
Fig. 8 is the configuration schematic diagram of Fig. 1.
Each appended drawing reference and component names corresponding relationship are as follows:
1, wheel carrier；21, the first driving motor；22, the first speed reducer；23, the first driving wheel；31, the second driving motor；
32, the second speed reducer；33, the second driving wheel；4, buffer system is hung；6, axle sleeve；71, upper disc spring pad；72, lower disc spring pad；8,
Rolling ball bearing；9, bearing (ball) cover；41, lower cylinder；42, upper cylinder；43, spring；44, disc spring；45, thrust bearing；51, encoder is fixed
Son；52, encoder magnet steel；411, the first via hole；412, annular groove；421, top surface；422, side tube-wall；423, annular convex edge；
424, annular rib；4211, the second via hole.
Specific embodiment
In order to illustrate more clearly of technical solution of the present invention, it is further described below in conjunction with each embodiment.
As shown in figures 1-8 it is embodiment 1:
A kind of Two-wheeled omnibearing ambulation system comprising wheel carrier 1, the first driving motor 21, the first speed reducer 22, the
One driving wheel 23, the second driving motor 31, the second speed reducer 32, the second driving wheel 33, suspension buffer system 4, encoder system,
Axle sleeve 6, upper disc spring pad 71, lower disc spring pad 72, rolling ball bearing 8 and bearing (ball) cover 9.
Wherein, first speed reducer 22 and the second speed reducer 32 are fixed by bolts on wheel carrier 1；Described first slows down
The input shaft and output shaft of machine 22 are separately connected the first driving motor 21 and the first driving wheel 23；Second speed reducer 32 it is defeated
Enter axis and output shaft is separately connected the second driving motor 31 and the second driving wheel 33；And first driving wheel 23 and second drives
Wheel 33 is distributed in the two sides of wheel carrier 1.
The suspension buffer system 4 is fixed on wheel carrier 1 comprising lower cylinder 41, upper cylinder 42, spring 43 and push away disc spring 44
Power bearing 45；The lower cylinder 41 is equipped with annular groove 412；The spring 43, disc spring 44 and thrust bearing 45 are located at annular
In slot 412, and the thrust bearing 45 is located at 412 bottom of annular groove；The disc spring 44 connects 45 upside of thrust bearing, the bullet
Spring 43 connects 44 upside of disc spring；The upper cylinder 42 includes top surface 421 and side tube-wall 422；The side tube-wall 422 protrudes into annular groove
In 412 and it is located at 44 upside of disc spring；Annular convex edge 423,423 radius of the annular convex edge are equipped on the outside of 421 edge of top surface
Greater than 412 radius of annular groove, the downward movement for limiting cylinder 41 under 42 pairs of upper cylinder；422 inner wall of side tube-wall is equipped with ring
Shape rib 424, the annular rib 424 are located at 43 upside of spring.
The encoder system includes encoder stator 51 and encoder magnet steel 52；The encoder stator 51 and upper cylinder 42
It is mutually fixed；The encoder magnet steel 52 is fixed with lower 41 phase of cylinder.The lower cylinder 41 is equipped with the first via hole 411；Described first
Via hole 411 and annular groove 412 are concentric structure, its aperture less than 412 radius of annular groove；The top surface 421 is equipped with the
Two via holes 4211.The axle sleeve 6 is fixed in annular groove 12, separates upper cylinder 2 and lower cylinder 1.The upper disc spring pad 71 is set to
44 upside of disc spring separates spring 43 with disc spring 44 and side tube-wall 422 with disc spring 44.The lower disc spring pad 72 is set to disc spring 44
Downside separates disc spring 44 and thrust bearing 45.First speed reducer 22 and the second speed reducer 32 use parallel axle speed reducing machine.
First driving wheel 23 and the second driving wheel 33 are made of polyurethane and aluminium alloy.The rolling ball bearing 8 is fixed on lower cylinder
On 41 axis, it is installed in wheel carrier 1.The bearing (ball) cover 9 connects rolling ball bearing 8.
In practice, the course of work is as follows: being located at wheel carrier 1 one by the first driving motor 21 and the adjustment of the first speed reducer 22
The velocity of rotation of first driving wheel 23 of side.Wheel carrier 1 is located at by the second driving motor 31 and the adjustment of the second speed reducer 32 simultaneously
The velocity of rotation of second driving wheel 33 of the other side.By manufacturing rotational speed difference between two driving wheels, control accurate AGV is realized
Corner of the vehicle within the scope of 360 °.In the process of moving, when unsupported weight on the bracket that bears a heavy burden, side tube-wall 22 protrudes into AGV vehicle
412 part of annular groove is not in contact with disc spring and annular rib 424 is pressed on spring 43.Spring 43 is in bending compression shape at this time
State is supported the weight of weight bearing bracket by spring 43.And when being placed with weight on the bracket that bears a heavy burden, spring 43 is in limited compression shape
State.Side tube-wall 422 is contacted towards the movement of 412 bottom of annular groove, its bottom edge with disc spring 32 under pressure at this time, mainly passes through dish
Spring 32 bears increased weight.It is met under the different operating conditions of heavy duty and underloading as a result, as the first driving wheel 23 and second
Driving wheel 33 provides the effect of enough adhesive force.In addition, when the AGV vehicle using this mechanism is in running on rough terrain, on
Cylinder 42 and lower cylinder 41 generate spacing when jolting, and the power that disc spring 32 is compressed at this time discharges first, and the power that then spring 43 compresses is released
It puts.By the double buffering of disc spring 44 and spring 43, the vibration that ground is jolted is eliminated, it is prevented to be transferred to weight bearing bracket, from
And it ensure that the stability of AGV vehicle weight bearing.And when AGV vehicle does steering movement, encoder magnet steel 52 is around encoder stator 51
Rotation, for measuring the angle of rotating platform rotation.When the first driving wheel and the second driving wheel are not wheel carriers in a horizontal plane
The angle of wheel carrier can be adjusted centered on the axis of rolling ball bearing 8, guarantee driving wheel always with ground face contact.
The above, only specific embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any ripe
The technical staff of art technology is known in technical scope disclosed by the invention, any changes or substitutions that can be easily thought of, should all contain
Lid is within protection scope of the present invention.Protection scope of the present invention is subject to the scope of protection of the claims.
Claims (6)
1. a kind of Two-wheeled omnibearing ambulation system, it is characterised in that: including wheel carrier (1), the first driving motor (21), first
Speed reducer (22), the first driving wheel (23), the second driving motor (31), the second speed reducer (32), the second driving wheel (33)；It is described
First speed reducer (22) and the second speed reducer (32) are fixed by bolts on wheel carrier (1)；First speed reducer (22) it is defeated
Enter axis and output shaft is separately connected the first driving motor (21) and the first driving wheel (23)；The input of second speed reducer (32)
Axis and output shaft are separately connected the second driving motor (31) and the second driving wheel (33)；And first driving wheel (23) and second
Driving wheel (33) is distributed in the two sides of wheel carrier (1).
2. Two-wheeled omnibearing ambulation system as described in claim 1, it is characterised in that: it further include suspension buffer system (4),
The suspension buffer system (4) is fixed on wheel carrier (1) comprising lower cylinder (41), upper cylinder (42), spring (43), disc spring (44)
With thrust bearing (45)；The lower cylinder (41) is equipped with annular groove (412)；The spring (43), disc spring (44) and thrust bearing
(45) it is located in annular groove (412), and the thrust bearing (45) is located at annular groove (412) bottom；The disc spring (44)
It connects on the upside of thrust bearing (45), on the upside of spring (43) connection disc spring (44)；The upper cylinder (42) include top surface (421) and
Side tube-wall (422)；The side tube-wall (422) is protruded into annular groove (412) and is located on the upside of disc spring (44)；The top surface (421)
Annular convex edge (423) are equipped on the outside of edge, the annular convex edge (423) radius is greater than annular groove (412) radius, for limiting
Downward movement of the cylinder (42) to lower cylinder (41)；Side tube-wall (422) inner wall is equipped with annular rib (424), the annular gear
Side (424) is located on the upside of spring (43).
3. Two-wheeled omnibearing ambulation system as claimed in claim 2, it is characterised in that: the lower cylinder (41) is equipped with first
Via hole (411)；First via hole (411) and annular groove (412) are concentric structure, its aperture less than annular groove
(412) radius；The top surface (21) is equipped with the second via hole (211).
4. Two-wheeled omnibearing ambulation system as described in claim 1, it is characterised in that: further include axle sleeve (6), the axle sleeve
(6) it is fixed in annular groove (12), separates upper cylinder (2) and lower cylinder (1).
5. Two-wheeled omnibearing ambulation system as described in claim 1, it is characterised in that: first speed reducer (22) and
Two speed reducers (32) use parallel axle speed reducing machine.
6. Two-wheeled omnibearing ambulation system as described in claim 1, it is characterised in that: first driving wheel (23) and
Two driving wheels (33) are made of polyurethane and aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811335548.6A CN109204454A (en) | 2018-11-09 | 2018-11-09 | Two-wheeled omnibearing ambulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811335548.6A CN109204454A (en) | 2018-11-09 | 2018-11-09 | Two-wheeled omnibearing ambulation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109204454A true CN109204454A (en) | 2019-01-15 |
Family
ID=64995519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811335548.6A Pending CN109204454A (en) | 2018-11-09 | 2018-11-09 | Two-wheeled omnibearing ambulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109204454A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
| CN111547158A (en) * | 2020-04-30 | 2020-08-18 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100187026A1 (en) * | 2009-01-28 | 2010-07-29 | Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg | Electrical axle assembly |
| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN106314129A (en) * | 2016-08-26 | 2017-01-11 | 北京超同步伺服股份有限公司 | AGV (Automatic Guided Vehicle) trolley capable of walking in any angle direction |
-
2018
- 2018-11-09 CN CN201811335548.6A patent/CN109204454A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100187026A1 (en) * | 2009-01-28 | 2010-07-29 | Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg | Electrical axle assembly |
| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN106314129A (en) * | 2016-08-26 | 2017-01-11 | 北京超同步伺服股份有限公司 | AGV (Automatic Guided Vehicle) trolley capable of walking in any angle direction |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
| CN111547158A (en) * | 2020-04-30 | 2020-08-18 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
| CN111547158B (en) * | 2020-04-30 | 2021-05-07 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
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Effective date of registration: 20220715 Address after: 223700 No. 3001, greenbelt a, Huaihai Road, Zhongxing Street, Siyang County, Suqian City, Jiangsu Province Applicant after: Siyang Pengjin Technology Co.,Ltd. Address before: Room 3772, 3 / F, 2879 Longteng Avenue, Xuhui District, Shanghai, 200232 Applicant before: CHIPSPACE (SHANGHAI) INTELLIGENT TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20220831 Address after: Room C181, 13th Floor, Building 1, Dongfangmao Commercial Center, Gongshu District, Hangzhou City, Zhejiang Province 310000 Applicant after: Zhejiang Xinbo Technology Co.,Ltd. Address before: 223700 No. 3001, greenbelt a, Huaihai Road, Zhongxing Street, Siyang County, Suqian City, Jiangsu Province Applicant before: Siyang Pengjin Technology Co.,Ltd. |
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Application publication date: 20190115 |